WO2020052106A1 - 一种紧凑型长航时植保无人机 - Google Patents

一种紧凑型长航时植保无人机 Download PDF

Info

Publication number
WO2020052106A1
WO2020052106A1 PCT/CN2018/118954 CN2018118954W WO2020052106A1 WO 2020052106 A1 WO2020052106 A1 WO 2020052106A1 CN 2018118954 W CN2018118954 W CN 2018118954W WO 2020052106 A1 WO2020052106 A1 WO 2020052106A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
shock absorbing
support plate
spraying
assembly
Prior art date
Application number
PCT/CN2018/118954
Other languages
English (en)
French (fr)
Inventor
罗之洪
李奔
夏烨
罗强
Original Assignee
广州市华科尔科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州市华科尔科技股份有限公司 filed Critical 广州市华科尔科技股份有限公司
Publication of WO2020052106A1 publication Critical patent/WO2020052106A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0071—Construction of the spray booms
    • A01M7/0075—Construction of the spray booms including folding means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/40—Arrangements for mounting power plants in aircraft

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a compact long-hour plant protection unmanned aerial vehicle.
  • Plant protection drone is an unmanned aircraft used for agricultural and forestry plant protection operations. This type of drone is composed of a flying platform (fixed wing, helicopter, multi-axis aircraft), navigation flight control, and spraying mechanism. Remote control or navigation flight control to achieve spraying operations, which can spray medicine, seeds, powder, etc.
  • a flying platform fixed wing, helicopter, multi-axis aircraft
  • navigation flight control to achieve spraying operations, which can spray medicine, seeds, powder, etc.
  • spraying mechanism Remote control or navigation flight control to achieve spraying operations, which can spray medicine, seeds, powder, etc.
  • the plant protection drone is also gradually expanding its scope of use and its application is becoming wider and wider. It has the following advantages: (1) Simple operation: multi-rotor agricultural plant protection machines can be raised and lowered at field heads, from a few meters at low altitude The flight can control the flying spray effect within the line-of-sight range, which is very suitable for various types of complex terrain farmland and different types of agricultural plants and woods. It can also accurately spray when adjacent crops are planted with different crops. (2) Fast speed and high efficiency: farmland pests and diseases are very fierce, sometimes manual spraying is not efficient enough, and large-scale disasters cannot be extinguished. Now, the plant protection drones circulating on the market can basically spray about 1-2 acres per minute.
  • Each charge can be sprayed for 10-25 minutes, and each take-off and landing can spray about 15-50 acres of farmland, which is a hundred times the current rate of traditional manual spraying, and it is entirely possible to gradually replace the traditional manual spraying of pesticides.
  • the purpose of the present invention is to provide a compact long-hour plant protection drone, which is used to solve the problems of the large size, incompact structure and short battery life of the plant protection drone in the prior art.
  • the present invention provides a compact long-hour plant protection drone, which includes a fuselage, the fuselage includes a first support plate, and an upper part is provided with a fuel tank and a medicine box supported by the first support plate; A second support plate and four rotor components are provided, and the second support plate is provided with a plurality of control modules; a lower part is provided with a shock absorption component, a driving component, a spray device and a fuselage foot;
  • the first support plate and the second support plate are fixedly connected with each other to form an overhead layer, and the control module is disposed in the overhead layer; the plurality of rotor components are disposed on the side of the overhead layer and are connected to the first support. Plate hinge
  • the rotor assembly includes a rotor arm, a drive motor provided at a distal end of the rotor arm, and a rotor provided with a motor to drive rotation;
  • the upper end of the shock absorbing component is connected to the bottom surface of the second support plate, and the lower end is connected to the driving component;
  • One end of the fuselage leg is connected to the bottom of the second support plate, and the other end supports the ground;
  • the driving assembly includes an engine assembly and a generator assembly, and the engine assembly supplies oil through a fuel tank to drive the generator assembly to generate electricity to realize the power supply of the drone;
  • the spraying device includes two spraying rods, the spraying rods are movably connected to the rotor assembly vertically, and a spraying head is arranged at the lower end.
  • the plant protection drone according to the present invention is mainly used for spraying pesticides.
  • the first support plate is disposed in the middle of the fuselage, and the upper part is provided with an oil tank and a medicine box supported by the first support plate, and is covered by a drone top cover. Hold the fuel tank and medicine tank to protect the internal components.
  • the first support plate is substantially circular, and the second support plate is also substantially similar or the same shape, so that the two can be matched with each other and facilitate the fastening between the two.
  • the first support plate and the second support plate are fixedly connected, and an overhead layer is formed between the two.
  • the overhead layer is used to set a control module, such as a motherboard PCB module, a liquid level detection module, and a flight control PCB module.
  • a control module such as a motherboard PCB module, a liquid level detection module, and a flight control PCB module.
  • the main board PCB module plays the role of comprehensive control and regulation, mainly for the regulation of drives, such as engines, generators, rotor drive motors, etc.
  • the liquid level detection module mainly uses the liquid level difference to determine the remaining oil quantity, so as to control the drone flight more safely and stably.
  • the flight control PCB module is used to stabilize the flying attitude of the drone, and can control the autonomous or semi-autonomous flight of the drone; each module provided on the second support plate is electrically connected to the motherboard
  • the infrared fixed height PCB module mainly uses infrared to measure the flying height of the drone, so as to control the spraying amount of the medicinal solution.
  • the infrared PCB module is mainly used for distance measurement of the drone, and realizes the obstacle avoidance function of the drone.
  • the PTZ transfer PCB module is mainly used to realize the communication connection between the drone and the remote control of the operation terminal, thereby realizing various operations of the user.
  • a gimbal component is provided on the front side of the drone body, which can take a real-time picture, and transmit the picture to the user through the image transmission PCB module, which is convenient for the user to check the drug spraying status and the drone flying status in real time. .
  • control module is the central area of the entire drone, it plays a decisive role in the stability of the drone's flight, and the setting of the overhead layer can form a relatively independent protective space, which prevents the control module from being exposed and damaged.
  • a "mouth” -shaped enclosure is also provided between the first support plate and the second support plate, on the one hand, it plays a role of protecting the internal control module, and in addition, four enclosures are provided on the enclosure for the rotor arms.
  • the circular hole stabilizes the rotor arm.
  • the fuselage feet are mainly used for being able to be stably placed on the horizontal ground when the drone takes off or landing, and a plurality of anti-skid rings will be arranged on the fuselage feet.
  • the present invention adopts a hybrid electric-electric drone.
  • the driving component includes an engine component and a generator component.
  • the engine component supplies oil through a fuel tank and drives the generator component to generate electricity, thereby realizing the overall energy supply of the drone. Therefore, the power transmission is ultimately adopted, which is more convenient to control.
  • the engine component and the generator component are both components with large vibrations, so they are arranged in the lower half of the fuselage, and the vibration reduction effect of the shock absorbing component is used to reduce the vibration amplitude and prevent excessive vibration from affecting the flight The stability.
  • the engine component and the generator component are compactly connected.
  • the present invention adopts a two-cylinder fuel engine to enhance power.
  • the generator is arranged on the upper side of the engine and is connected to a shaft of the engine to drive the generator to run.
  • a muffler assembly is also provided on one side of the engine, which reduces the noise generated by the engine and is more convenient for users to operate.
  • the spraying device of the present invention includes two spraying rods arranged vertically on the rotor assembly, which can reduce the volume of the drone, and the spraying pipeline can be fixed along the rotor arm, so no additional
  • the fixing device fixes the spray rod, and can make full use of the airflow generated by the rotation of the rotor to ensure that the spray is sufficient.
  • the invention adopts a hybrid electric-electric unmanned aerial vehicle, and uses a more reasonable structural arrangement of components to make the structure of the unmanned aerial vehicle more compact, convenient to transport and carry, and more convenient for users to operate.
  • the present invention divides the drone body into three levels through a compact setting.
  • the upper layer is a medicine tank and a fuel tank. Since the medicine tank and the fuel tank will sway during the flight of the drone, it needs to be kept away from the engine and generator to ensure Flight is more stable.
  • the middle layer of the fuselage is also the core area for drone control, including rotor components and control modules, as the distribution area of the main electrical components. Therefore, it is necessary to prevent the oil tank from leaking from the medicine tank or the fuel tank to affect the work of the electrical components.
  • the rotor assembly further includes a motor fixing assembly provided at the distal end of the rotor arm for protecting and fixing the driving motor.
  • the motor fixing assembly includes a motor fixing frame and a motor fixing base cover, and the spray rod is mounted on the On the motor mount bottom cover.
  • the present invention also provides a motor fixing assembly, the motor fixing assembly is installed at the distal end of the rotor arm, and the motor fixing frame includes a fixed connection with the rotor arm.
  • a speed-adjusting PCB heat sink, a speed-adjusting PCB for adjusting the rotation speed of the driving motor, and a motor fixing frame bottom cover are sequentially fixed on the lower side of the circular bracket.
  • the speed-adjusting PCB board heat-dissipating block has a porous structure
  • the motor fixing frame bottom cover is fixed with a circular bracket, and an accommodation space is formed inside.
  • the PCB-board heat-dissipating block and the speed-regulating PCB board are arranged in the accommodation space.
  • the bottom cover of the motor fixing frame is also provided with multiple heat dissipation holes, on the one hand, it ensures that the speed regulating PCB can be stably fixed on the circular bracket, and on the other hand, the porous setting of the bottom cover of the motor fixing frame, ensures internal heat dissipation.
  • the invention fixes the spray rod on the bottom cover of the motor fixing frame, which saves installation space and does not affect the operation of the driving motor.
  • the spray rod is hinged to the fixed bottom cover of the motor, and the length of the spray rod is less than the length of the rotor arm.
  • the spraying rod according to the present invention is foldable, and the folding direction is along the rotor arm and toward the fuselage. Since the rotor arm is also foldable, the spraying rod does not occupy additional drone space. Makes the overall structure more compact.
  • the height difference H between the spray head and the sprayed plant is 2 to 3 m.
  • the distance between the spray head and the spray plant can neither be too far nor too close. This makes the airflow insufficient, which cannot ensure that the liquid medicine fully covers the plant surface, and the distance between the two is too close. It may be due to the strong airflow in the area near the driving motor, which spreads the liquid medicine to a large range, reducing the required spraying area. The amount may not reach the required efficacy.
  • the horizontal distance between the two spraying rods is L, and the spraying head between the spraying head and the spraying plant sprays obliquely downward, wherein the inclination angle ⁇ conforms to the formula:
  • the spraying direction of the spraying nozzle set by the present invention is centered on the spraying nozzle and diffuses obliquely downward, wherein the diffusion angle ⁇ conforms to the formula:
  • the length of the hypotenuse is
  • the value of cos ⁇ must be less than or equal to the value of cos ⁇ .
  • the spraying device further includes a spraying pipeline, the spraying pipeline includes an input end and two output ends, the medicine box is provided with a medicine outlet, and a side of the medicine box is provided with a protruding part, The protruding portion protrudes from the first support plate, the medicine outlet is provided at the bottom of the protrusion, and the medicine outlet is provided with an "L" -shaped elbow for connecting the input end of the spray pipe.
  • the medicine hole is set at the bottom of the medicine box. Since the medicine box is fixed on the first support plate, the spray pipe is connected to the bottom of the medicine box. The medicine discharge hole may cause the input pipe to be twisted, causing liquid leakage or easy damage. Therefore, the present invention provides a protrusion on the side of the medicine box, and the bottom of the protrusion partially protrudes from the first support plate.
  • the "L” -type elbow is a rigid device, because the chemical liquid flows out, or has a certain lubricating effect, if it is a straight joint, it may be due to the lubricating effect of the liquid, plus the chemical liquid
  • the gravitational force makes the input end of the spray pipe easily fall, causing the liquid medicine to flow out, and causing damage to electrical components such as circuit boards, and even to prevent the drone from flying normally. Therefore, by setting "L” type elbows, Try to prevent the input from slipping.
  • the input end is also provided with a fastener, such as a screw fastening, or a rigid buckle to further fix the input end and the "L" -shaped elbow.
  • the spray pipeline is distributed along the rotor arm to the spray rod, which facilitates the support of the spray pipeline and also simplifies the installation of the spray pipeline.
  • a horizontal distance between the spray heads is 0.8 to 1.2 m, and a length of the propeller is 0.55 m to 0.65 m.
  • the distance between the spraying heads is limited to 0.8-1.2m. Therefore, only one spraying head is required under each of the two rotor components on the front side to achieve complete spraying in this area. Because the full spraying of the present invention also needs to rely on the rotation of the propeller to generate downward airflow, the length of the propeller also determines the area that the airflow can cover.
  • the length of the propeller is selected by the present invention to be 0.55m to 0.65m, so that When the fuselage propeller rotates, the middle interval area can also be completely covered, ensuring sufficient spraying.
  • a plurality of positioning members are provided on the first support plate, and the fuel tank and the medicine box are arranged side by side on the first support plate through the positioning members, and the cross section of the positioning member is a right-angled triangle, in which the inclined surface and the fuel tank or Contact with medicine cabinet.
  • Positioning elements are provided on the front and back sides of the first support plate, and the positioning elements are mainly used for fixing the fuel tank and the medicine tank, to avoid position movement and shaking during flight. Because the amount of oil and liquid in the fuel tank and the medicine tank will gradually decrease, a large shake will occur during the flight. If the upper and lower layers of the fuel tank and the medicine tank are set, the strength of the shaking will be caused by the different tilt angles of the upper and lower layers. Different from the direction, the shaking of the liquid is more obvious, and the collision between the liquid and the bottle body will be strengthened. Therefore, the present invention selects the fuel tank and the medicine tank to be arranged next to each other side by side. When the drone is tilted, because the tilt angle of the two is the same, Therefore, shaking in the same direction will occur, so that the overall shaking will show a stable trend, avoiding collision and friction with each other and affecting the service life.
  • the cross-section of the positioning member is a right-angled triangle, wherein the triangular inclined surface is used to fix the fuel tank and the medicine box, and a cushion is provided on the inclined surface. While avoiding damage to the contact surface caused by friction between the rigid devices, the inclined surface can be increased. The friction force makes the fuel tank or the medicine tank more stably positioned in this position, and is not easy to slide. And the setting of the inclined surface can increase the contact area between the positioning member and the fuel tank or the medicine tank, and play a better stabilization role.
  • the shock absorbing component includes a first shock absorbing plate, a plurality of second shock absorbing plates, a plurality of third shock absorbing plates, and a plurality of fourth shock absorbing kits connected in order from bottom to top,
  • the lower side of the first shock absorbing plate is connected with the driving component, and the upper side is connected with the second shock absorbing plate,
  • a third shock absorbing plate is fixed at each end of the second shock absorbing plate, and the plurality of fourth shock absorbing kits are fixedly connected to the plurality of third shock absorbing plates through a buffer gasket assembly, respectively.
  • the upper side of the fourth damping kit is fixed on the first support plate.
  • the first shock absorbing plate includes four corners, and each of the four corners is provided with a protruding connecting portion, and each of the connecting portions is provided with four holes to form " Tian "shape, the second damping plate is connected to the first damping plate connection portion through a liquid damping ball;
  • the second damping plate is two strip-shaped plates, and four ends of each second damping plate are also provided with four holes corresponding to the connecting portion, and the first damping is connected by a liquid damping ball. Two adjacent corners of the seismic plate;
  • the third shock absorbing plate is in an “n” shape, one at each end of the second shock absorbing plate, and the lower end of the third shock absorbing plate is perpendicular to the second shock absorbing plate. Fixed, the upper end is connected to the fourth shock-absorbing kit through a buffer gasket assembly;
  • the fourth damping kit is a multi-layer damping structure, including a first hanging plate provided with two first strip-shaped holes and a second hanging plate also provided with two second strip-shaped holes, and a lower side fixing
  • a third hanging plate having two strip-shaped first metal plates, the first hanging plate and the second hanging plate are connected through a buffer member, and the first metal piece penetrates the second hanging plate and the first hanging plate in order downwards.
  • the strip-shaped hole is finally fixedly connected to the third shock-absorbing plate.
  • a middle portion of the first shock absorbing plate is square, and a strip-shaped heat radiation portion is provided in a middle region.
  • the middle part of the first shock absorbing plate is square, and since the bottom part is used to connect the generator assembly and the engine assembly, a strip-shaped heat radiation part is provided in the middle region to avoid machine damage caused by the heat generation of the generator and the engine.
  • each corner is provided with a protruding connection portion, and each connection portion is provided with four holes to form a "tian" shape.
  • the buffer pad assembly includes a first damping pad, a support rod, a damping ring, and a second damping pad.
  • a hanging hole is provided at the upper end of the third damping plate, and the supporting rod passes through the hanging hole.
  • One end is connected to one side of the fourth damping kit and the first damping pad, and the other end is sequentially connected to the damping ring, the other side of the fourth damping kit, and the second damping pad.
  • the first hanging plate is provided with a plurality of first through holes
  • the second hanging plate is provided with a plurality of second through holes that are matched with each other. Ring-shaped shock ball connection.
  • the fourth shock absorbing kit further includes a fourth hanging plate provided on the upper end of the third hanging plate and a fifth hanging plate provided on the upper end of the fourth hanging plate.
  • Each of the two ends of the fourth hanging plate is provided with a third strip shape. Hole, four third through holes are provided in the middle, and the fifth hanging plate has an “n” shape, and two ends are provided with inserts for inserting a third strip-shaped hole, and two ends of the first hanging plate are provided with The fixed position is used for fixing the end of the cutting strip to form a stable shock-absorbing structure.
  • the third hanging plate and the fifth hanging plate on the fourth shock absorbing kit have a hollow structure.
  • the plurality of hanging plates on the fourth shock absorbing kit are generally arranged in a hollow structure, which can reduce the resistance of flight, and also facilitate the heat dissipation of the machine, making the flight more stable.
  • the present invention adopts a hybrid electric-electric drone.
  • the driving component includes an engine component and a generator component.
  • the engine component supplies oil through a fuel tank and drives the generator component to generate electricity, thereby realizing the overall energy supply of the drone. Therefore, the power transmission is ultimately adopted, which is more convenient to control.
  • the engine component and the generator component are both components with large vibrations, so they are arranged in the lower half of the fuselage, and the vibration reduction effect of the shock absorbing component is used to reduce the vibration amplitude and prevent excessive vibration from affecting the flight The stability.
  • the engine component and the generator component are compactly connected.
  • the present invention adopts a two-cylinder fuel engine to enhance power.
  • the generator is arranged on the upper side of the engine and is connected to a shaft of the engine to drive the generator to run.
  • a muffler assembly is also provided on one side of the engine, which reduces the noise generated by the engine and is more convenient for users to operate.
  • the present invention adopts a hybrid electric-electric drone, and uses a more reasonable structural arrangement of components to make the drone more compact in structure, convenient for transportation and carrying, and more convenient for users to operate. Extend flight time and improve spray efficiency.
  • the multi-stage shock absorbing plates of the present invention are interlocked, so that a certain buffer space is formed between the shock absorbing plates, and each shock absorbing plate passes a liquid shock sphere or a multi-layered ring with a buffering effect.
  • the ring-shaped shock-absorbing ball connection while extending the shock distance, achieves the cushioning effect, and plays a multi-buffering role.
  • the compact structure between the multilayer shock-absorbing plates also reduces the occupied space as much as possible, further reducing unmanned Machine volume.
  • the spraying rod provided by the present invention is a foldable spraying rod. Based on the shape of the fuselage, the two ends of the spraying rod are folded back, and the rotor can also be folded, so that a semi-closed fence is formed as a whole.
  • the structure is easy to carry and store, and saves space as much as possible.
  • the present invention realizes that the plant area corresponding to the middle position of the spray rod can also have a chemical liquid distribution according to the wind force and turbulent effects generated by the propeller, which reduces the setting of the nozzles, reduces the number of nozzles, and can also reduce the chemical liquid The amount of use to improve the spraying efficiency.
  • the present invention sets the rotor assembly at four side angles, so that when the two rotors on the front side rotate, it can generate the maximum airflow to the nozzle on the spray rod below, so that the liquid sprayed by the nozzle can be more dispersed
  • the wind generated by the rotation of the propeller can also blow the plants, so that the leaves of the plants can be flipped to achieve a more adequate spraying effect.
  • FIG. 1 is a developed side view of a drone of the present invention.
  • FIG. 2 is an overall exploded view of the drone of the present invention.
  • FIG. 3 is a structural diagram of a control module on a second support plate of the present invention.
  • FIG. 4 is a schematic partial explosion diagram of a rotor assembly according to the present invention.
  • FIG. 5 is a schematic partial explosion diagram of the rotor assembly according to the present invention.
  • FIG. 6 is a structure diagram of a single-port sprinkler drone according to the present invention after it is deployed.
  • FIG. 7 is a structure diagram of a dual-port sprinkler drone according to the present invention after it is deployed.
  • FIG. 8 is a schematic view of the spraying angle of the spray head of the present invention.
  • FIG. 9 is a partial exploded view of the cooperation of the first supporting plate with the fuel tank and the medicine tank.
  • FIG. 10 is a schematic perspective view of the front and back sides of the positioning member.
  • FIG. 11 is a partial exploded view of a drone damping assembly of the present invention.
  • FIG. 12 is an exploded structural diagram of a fourth vibration-damping kit of the vibration-damping assembly of the present invention.
  • the present invention provides a compact long-hour plant protection drone, as shown in FIG. 1, and includes a fuselage 1 including a first support plate 11 and an upper part provided with a fuel tank supported by the first support plate 11. 2 and medicine box 3; a second support plate 12 and four rotor assemblies 4 are provided in the middle, and as shown in FIG. 2, a plurality of control modules 5 are provided on the second support plate 12; 6. Drive assembly 7, spray device 8, and fuselage feet 13.
  • the first support plate 11 and the second support plate 12 are fixedly connected, an overhead layer is formed between the two, and the control module 5 is disposed in the overhead layer; the plurality of rotor components 4 is provided on the side of the overhead layer and is hinged to the first support plate 11;
  • the rotor assembly 4 includes a rotor arm 41, a drive motor 42 provided at a distal end of the rotor arm 41, and a rotor 43 provided with a motor to drive rotation;
  • the upper end of the damping component 6 is connected to the bottom surface of the second support plate 12, and the lower end is connected to the driving component 7.
  • One end of the fuselage leg 13 is connected to the bottom of the second support plate 12, and the other end supports the ground;
  • the driving assembly 7 includes an engine assembly 71 and a generator assembly 72, and the engine assembly 71 supplies fuel through the fuel tank 2 and drives the generator assembly 72 to generate electricity to realize the power supply of the drone;
  • the spraying device 8 includes two spraying rods 81.
  • the spraying rods 81 are movably connected to the rotor assembly 4 vertically, and a spray head 82 is provided at the lower end.
  • the plant protection drone according to the present invention is mainly used for spraying pesticides.
  • the first support plate 11 is provided in the middle of the fuselage 1, and the upper part is provided with the oil tank 2 and the medicine box 3 supported by the first support plate 11.
  • the man-machine top cover covers the fuel tank 2 and the medicine tank 3 to realize protection of internal components.
  • the first support plate 11 is substantially circular, and the second support plate 12 is also substantially similar or the same shape, so that the two can be matched with each other and facilitate the fastening between the two.
  • the first support plate 11 and the second support plate 12 are fixedly connected, and an overhead layer is formed between the two.
  • the overhead layer is used to set a control module 5, such as a motherboard PCB module 51, a liquid Position detection module 52, flight control PCB module 53, infrared fixed height PCB module 54, PTZ transfer PCB module 55, image transmission PCB module 56, etc.
  • the main board PCB module 51 plays a role of comprehensive control and regulation, mainly for driving regulation, such as an engine, a generator, a rotor drive motor 42 and the like.
  • the liquid level detection module 52 mainly uses the liquid level difference to determine the remaining oil amount, thereby more safely and stably controlling the flight of the drone.
  • the flight control PCB module is used to stabilize the flying attitude of the drone, and can control the autonomous or semi-autonomous flight of the drone; each module provided on the second support plate 12 is electrically connected to the motherboard PCB module 51, respectively. To achieve various operations of drones.
  • the infrared fixed-height PCB module 54 mainly uses infrared to measure the flying height of the drone, so as to control the spraying amount of the medicinal solution.
  • the infrared PCB module is mainly used for distance measurement of the drone, and realizes the obstacle avoidance function of the drone.
  • the PTZ transfer PCB module 55 is mainly used to realize the communication connection between the drone and the remote control of the operation terminal, thereby realizing various operations of the user.
  • the front side of the drone body 1 is provided with a gimbal component, which can take a real-time picture, and transmit the picture to the user through the image transmission PCB module 56, so that the user can check the status of the drug spray and the drone in real time. Flight status.
  • the plurality of control modules 5 are arranged therein, which not only ensures the relative stability of the positions between the multiple components, but also makes the overall structure Compact, which reduces the size of the whole machine and the overall flight is more stable. Because the control module is the central area of the entire drone, it plays a decisive role in the stability of the drone's flight, and the setting of the overhead layer can form a relatively independent protective space, which prevents the control module from being exposed and damaged. .
  • a “mouth” -shaped enclosure 14 is also provided between the first support plate 11 and the second support plate 12. On the one hand, it functions to protect the internal control module. 14 is provided with four circular holes for setting the rotor arm 41 to play a role of stabilizing the rotor arm 41.
  • the fuselage feet 13 are mainly used for being able to be stably placed on the horizontal ground when the UAV takes off or landing, and a plurality of anti-skid rings will be provided on the fuselage feet 13.
  • the present invention adopts a hybrid electric-electric drone.
  • the drive assembly 7 includes an engine assembly 71 and a generator assembly 72.
  • the engine assembly 71 supplies oil through the fuel tank 2 and drives the generator assembly 72 to generate electricity to achieve unmanned operation.
  • the overall power supply of the machine, so the final use is the transmission of electrical energy, which is more convenient to control.
  • the engine component 71 and the generator component 72 are both components with large vibrations, so they are arranged in the lower half of the fuselage 1, and the vibration damping effect of the vibration damping component 6 reduces the vibration amplitude and avoids vibrations. Excessive impact on flight stability.
  • the engine assembly 71 and the generator assembly 72 are compactly connected.
  • the present invention adopts a two-cylinder fuel engine to enhance power.
  • the generator is arranged on the upper side of the engine and is connected to the shaft of the engine to drive the generator to run.
  • a muffler assembly is also provided on one side of the engine, which reduces the noise generated by the engine and is more convenient for users to operate.
  • the spraying device 8 includes two spraying rods 81 vertically arranged on the rotor assembly 4, which can reduce the volume of the drone, and the spraying pipeline can be fixed along the rotor arm 41. Therefore, No additional fixing device is needed to fix the spray rod 81, and the airflow generated by the rotation of the rotor can be fully utilized to ensure that the spray is sufficient.
  • the invention adopts a hybrid electric-electric unmanned aerial vehicle, and uses a more reasonable structural arrangement of components to make the structure of the unmanned aerial vehicle more compact, convenient to transport and carry, and more convenient for users to operate.
  • the present invention divides the drone fuselage 1 into three levels through a compact setting, and the upper layer is a medicine tank 3 and a fuel tank 2. Since the medicine tank 3 and the fuel tank 2 will sway during the flight of the drone, they need to be kept away from the engine And generator to ensure more stable flight.
  • the middle layer of the fuselage 1 is also the core area of the drone control, including the rotor assembly 4 and the control module, as the distribution area of the main electrical components.
  • the work of electrical components must reduce the vibration of the engine component 71 and the generator component 72, which may affect the stability of the component work, so it is set in the middle for better protection.
  • the engine component 71 and the generator component 72 are heavy and have large vibrations.
  • the upper or middle layers will affect the stability of the drone flight, and more complex vibration components are required to avoid other electrical components. It has an impact, so it is set at the lowest level, and is connected to the middle layer of the fuselage 1 through the shock absorption component 6, thereby extending the vibration distance, reducing the impact range of the vibration, and ensuring the flight stability of the whole machine.
  • the rotor assembly 4 further includes a motor fixing assembly 44 provided at a distal end of the rotor arm 41 for protecting and fixing the driving motor 42.
  • the motor fixing assembly 44 includes a motor fixing frame 441 and The motor fixed base cover 442 is installed on the motor fixed frame base cover 442.
  • a motor fixing assembly 44 is also provided in the present invention, and the motor fixing assembly 44 is installed at the distal end of the rotor arm 41.
  • the motor The fixing frame 441 includes a fixing rod 4411 fixedly connected to the rotor arm 41 and a circular bracket 4412 fixedly connected to the fixing rod.
  • the driving motor 42 is fixed on the circular bracket 4412.
  • the outer side of the circular bracket 4412 is also A signal light guide 10 is provided.
  • a speed-adjusting PCB heat sink 20 As shown in FIG. 5, a speed-adjusting PCB heat sink 20, a speed-adjusting PCB 30 for driving motor speed adjustment, and a motor fixing frame bottom cover 40 are sequentially fixed on the lower side of the circular bracket 4412.
  • the speed regulating PCB heat dissipation block 20 is a porous structure
  • the motor fixing frame bottom cover 442 is fixed to a circular bracket 4412, and an accommodation space is formed inside the PCB heat dissipation block and the speed regulation PCB board.
  • a plurality of heat dissipation holes are also provided.
  • the speed regulating PCB board can be stably fixed on the circular bracket 4412.
  • the motor fixing frame bottom cover 442 is porous. Guaranteed internal heat dissipation.
  • the spraying rod 81 is fixed on the motor fixed frame bottom cover 442, which saves installation space and does not affect the operation of the driving motor 42.
  • the shower rod 81 is hinged to the motor fixed bottom cover, as shown in FIG. 6, and the length L1 of the shower rod 81 is smaller than the length L2 of the rotor arm 41.
  • the spraying rod 81 according to the present invention is foldable, and the folding direction is along the rotor arm 41 and toward the fuselage 1. Since the rotor arm 41 is also foldable, the shower rod 81 will not be additionally occupied. Human-machine space makes the overall structure more compact.
  • a height difference H between the spray head 82 and the spraying plant is 2 to 3 m.
  • the distance between the spray head 82 and the spray plant should not be too far or too close, too The distance will make the airflow insufficient, and it is impossible to ensure that the liquid medicine fully covers the plant surface, and the distance between the two is too close. It may be because the airflow in the area near the driving motor 42 is too strong and the liquid medicine spreads to a large range, reducing the required spraying. The dose in the area may not reach the required effect.
  • the horizontal distance between the two spraying rods 81 is L, and the spraying head 82 between the spraying head 82 and the spraying plant is sprayed obliquely downward, where the inclination angle ⁇ conforms to formula:
  • the present invention provides two types of nozzles, such as a single nozzle shown in FIG. 6 and a double nozzle shown in FIG.
  • the spraying direction of the spray head 82 provided by the present invention is centered on the spray head 82 and diffuses obliquely downward, wherein the diffusion angle ⁇ conforms to the formula:
  • the length of the hypotenuse is
  • the value of cos ⁇ must be less than or equal to the value of cos ⁇ .
  • the spraying device 8 further includes a spraying pipeline 83, the spraying pipeline includes an input end and two output ends, and the medicine box 3 is provided with a medicine discharge A hole 31 is provided with a protruding portion 32 on the side of the medicine box 3, the protruding portion 32 protrudes from the first support plate 11, the medicine discharging hole 31 is provided at the bottom of the protruding portion 32, and the medicine discharging hole 31 is provided for Connect the “L” -shaped elbow 321 at the input end of the spray pipe 83.
  • the present invention sets the medicine outlet hole 31 at the bottom of the medicine box 3. Since the medicine box 3 is fixed on the first support plate 11, the spray pipe 83 The medicine outlet hole 31 connected to the bottom of the medicine box 3 may cause the input end pipe to be twisted, causing leakage or easy damage. Therefore, the present invention is provided with a protrusion 32 on the side of the medicine box 3, and the bottom of the protrusion 32 is partially convex.
  • the first support plate 11 is provided, and an “L” -type elbow 321 is provided on the protruding portion.
  • the “L” -type elbow 321 is a rigid device, and may have a certain lubricating effect when the chemical liquid flows out.
  • the input end of the spray pipe 83 may easily fall, causing the medicinal solution to flow out, and causing damage to electrical components such as circuit boards, and even to no one.
  • the aircraft cannot fly normally, so by setting “L” -shaped elbow 321, the input end can be prevented from slipping as far as possible.
  • the input end is further provided with a fastener, such as a screw fastening, or a rigid buckle to further fix the input end and the "L" -shaped elbow 321.
  • the spraying pipeline 83 is distributed along the rotor arm 41 to the spraying rod 81, which facilitates the support of the spraying pipeline 83 and also simplifies the installation of the spraying pipeline 83.
  • a horizontal distance between the spray heads 82 is 0.8 to 1.2 m, and a length L3 of the propeller 43 is 0.55 m to 0.65 m.
  • the distance between the spray heads 82 is limited to between 0.8 and 1.2 m. Therefore, only one spray head 82 is required under each of the two rotor assemblies 4 on the front side to achieve complete coverage in this area. spray. Because the full spraying of the present invention also needs to rely on the rotation of the propeller 43 to generate a downward airflow, the length of the propeller 43 also determines the area that the airflow can cover. The length of the propeller 43 selected by the present invention is 0.55m to 0.65. m, so that when the propeller 43 of the fuselage 1 rotates, the intermediate interval area can also be completely covered, ensuring sufficient spraying.
  • a plurality of positioning members 111 are provided on the first support plate 11. As shown in FIG. 10, the fuel tank 2 and the medicine tank 3 are arranged side by side on the first support plate through the positioning members 111. 11, the positioning member 111 has a right triangle in a cross section, and the inclined surface is in contact with the fuel tank 2 or the medicine tank 3.
  • Positioning members 111 are provided on the front and back sides of the first support plate 11.
  • the positioning members 111 are mainly used for fixing the fuel tank 2 and the medicine tank 3 to avoid position movement and shaking during flight. Because the amount of oil and liquid in tank 2 and tank 3 will gradually decrease, a large shake will occur during flight. If the upper and lower layers of fuel tank 2 and tank 3 are set, the tilt angles of the upper and lower layers will be different. The different strength and direction of the shaking make the shaking of the liquid more obvious, and the collision of the liquid with the bottle body will be strengthened. Therefore, the present invention selects the fuel tank 2 and the medicine tank 3 to be arranged next to each other side by side. When the drone is inclined, due to The inclination angles of the two are the same, so shaking in the same direction will cause the overall shaking to stabilize, avoiding collision and friction with each other and affecting the service life.
  • the cross-section of the positioning member 111 is a right-angled triangle, wherein the triangular inclined surface is used to fix the fuel tank 2 and the medicine tank 3, and a cushion is provided on the inclined surface, which can avoid the damage of the contact surface caused by friction between the rigid devices, and can also Increasing the friction of the inclined surface enables the fuel tank 2 or the medicine tank 3 to be more stably positioned at the position and difficult to slide.
  • the inclined surface can increase the contact area between the positioning member 111 and the fuel tank 2 or the medicine tank 3, and play a better stabilization role.
  • the shock absorbing component 6 includes a first shock absorbing plate 61, a plurality of second shock absorbing plates 62, a plurality of third shock absorbing plates 63, and a plurality of first shock absorbing plates connected in order from bottom to top.
  • the lower side of the first damping plate 61 is connected to the driving assembly 7, and the upper side is connected to the second damping plate 62;
  • a third shock absorbing plate 63 is fixed at each end of the second shock absorbing plate 62, and the plurality of fourth shock absorbing kits 64 and a plurality of third shock absorbing plates 63 respectively pass through the shock absorbing pad 20 and the shock absorbing.
  • Ring 30 is fixedly connected,
  • the upper side of the fourth shock absorbing kit 64 is fixed on the first support plate 11.
  • the first shock absorbing plate 61 is square in the middle, and since the bottom is used to connect the generator assembly 72 and the engine assembly 71, etc., a strip-shaped heat radiation portion is provided in the middle region, thereby avoiding heat generated by the generator and the engine. damage.
  • each corner is provided with a protruding connection portion 40, and each connection portion 40 is provided with four holes to form a "tian" shape.
  • the two shock-absorbing plates 62 are two strip-shaped plates. Four ends of each second shock-absorbing plate 62 are also provided with four holes corresponding to the connecting portion 40, and are connected to the first through the liquid shock-absorbing ball 10.
  • the third shock absorbing plate 63 has an “n” shape, one at each end of the second shock absorbing plate 62, and the third year shock absorbing plate is perpendicular to the first Two damping plates 62 are fixed by fasteners.
  • a connection hole 50 is provided on the upper side of the third shock absorbing plate 63, and a support rod 60 passing through the connection hole 50 is provided.
  • the support rod 60 is further provided with a shock absorbing pad 20.
  • a support rod 60 is connected to the lower side of the shock set 64.
  • the fourth shock absorbing kit 64 is a multi-layer shock absorbing structure, including four corners each having a first through hole 610 and two first strip holes 640 in the middle.
  • the first hanging plate 641 is also provided with a second hanging plate 642 with four second through holes 620 and two second strip-shaped holes 650, and a third hanging plate with two strip-shaped first metal pieces 670 fixed on the lower side.
  • Plate 643, the first hanging plate 641 and the second hanging plate 642 are connected by a ring-shaped shock absorbing ball, and the first metal sheet 670 passes through the strip-shaped holes of the second hanging plate 642 and the first hanging plate 641 in order downward, Finally, it is fixed to the third shock absorbing plate 63.
  • the fourth damping kit 64 further includes a fourth hanging plate 644 provided on the upper end of the third hanging plate 643, and a fifth hanging plate 645 and the fourth hanging plate provided on the upper end of the fourth hanging plate 644.
  • a third strip-shaped hole 660 is provided at each end of the 644, four third through-holes 630 are provided in the middle, and the fifth hanging plate 645 is in an "n" shape.
  • Inserts 6451 are provided at both ends for inserting the first Three strip-shaped holes 660 are provided at both ends of the first hanging plate 641 for fixing the end of the insert 6451 to form a stable shock-absorbing structure, and the fourth hanging plate is used to connect the second supporting plate .
  • the plurality of hanging plates on the fourth shock absorbing kit 64 are generally arranged in a hollow structure, which can reduce the resistance to flight, and also facilitate the heat dissipation of the machine, making the flight more stable.
  • the multi-stage damping plates of the present invention are interlocked, so that a certain buffer space is formed between the damping plates, and a liquid damping ball with a buffering effect or a multi-layer ring-shaped damping is formed between each damping plate.
  • the ball connection while extending the shock distance, achieves the cushioning effect and plays a multi-buffering role.
  • the compact structure between the multi-layer damping plates also reduces the occupied space as much as possible and further reduces the volume of the drone. .

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

一种紧凑型长航时植保无人机，包括机身(1)，所述机身(1)包括第一支撑板(11)，上部设有通过第一支撑板(11)支撑的油箱(2)和药箱(3)；中部设有第二支撑板(12)和四个旋翼组件(4)，所述第二支撑板(12)上设有多个控制模组(5)；下部设有减震组件(6)、驱动组件(7)、喷淋装置(8)以及机身支脚(13)；所述第一支撑板(11)和第二支撑板(12)固定连接，二者之间形成架空层，所述控制模组(5)设于架空层中；所述多个旋翼组件(4)设于架空层的侧面，与第一支撑板(11)铰接；所述减震组件(6)上端连接第二支撑板(12)的底面，下端连接驱动组件(7)；所述驱动组件(7)包括发动机组件(71)和发电机组件(72)，所述发动机组件(71)通过油箱(2)供油，驱动发电机组件(72)发电，实现无人机的供能；所述喷淋装置(8)包括两根喷淋杆(81)，所述喷淋杆竖直固定连接旋翼组件(4)，下端设有喷头(82)。

Description

一种紧凑型长航时植保无人机 技术领域
本发明涉及无人机技术领域，具体涉及一种结构紧凑的长航时植保无人机。
背景技术
植保无人机，顾名思义是用于农林植物保护作业的无人驾驶飞机，该型无人飞机由飞行平台(固定翼、直升机、多轴飞行器)、导航飞控、喷洒机构三部分组成，通过地面遥控或导航飞控，来实现喷洒作业，可以喷洒药剂、种子、粉剂等。中国作为农业大国，18亿亩基本农田，每年需要大量的农业植保作业，我国每年农药中毒人数有10万之众，致死率约20％。农药残留和污染造成的病死人数至今尚无官方统计，想必更是一个惊人数字。
植保无人机目前也在逐渐扩大范围使用，应用范围也越来越广，其具有以下优点：(1)操作简单：多旋翼农用植保机在田头地埂就能升起降落，从几米低空飞行可在视距范围内控制飞行喷洒效果，非常适用于各类复杂地形农田和不同种类高矮的农植物与树林，相邻农田种植不同农作物情况下也可精准的喷洒。(2)速度快，效率高：农田病虫来势非常凶猛，有时人工喷洒效率不够，大面积灾害来时无法扑灭，现在市面上流通的植保无人机基本每分钟可喷洒约1-2亩，每次装药可以喷洒10-25分钟，每次起降约可喷洒约15-50亩农田，是目前传统的人工喷洒速度的百倍，完全有可能逐步取代传统的人工喷洒农药作业。(3)喷洒均匀和雾化效果好，利用农业植保无人机向下的强烈旋转气流在喷洒农药时可以在翻动和摇晃农作物的同时，在下方的农作物形成一个的紊流区，可以非常均匀地喷洒农药，因此能将部分农药喷洒到茎叶背面和根部，且由于无人机下旋风力集中而有力，采用超细雾状喷洒比较容易透过植物绒毛的表面形成一层农药膜均匀而有效的杀灭害虫。(4)环保效果好省水，省药，减少污染：飞机作业省药30％，省水90％，有效解决农药残留及土壤、水源污染问题，喷洒农药用量少，环保效果好。(5)操作安全：采取手动遥控作业，人员与植保机距离较远，发生操作故障或紧急情况时也不会对操作人员造成危害。
现有的植保无人机为了增加续航时间，会设置多个电池，也有一些油电混动的植保无人机，由于设置的结构不合理，导致无人机整体的体积较大，运输和操作不方便，且续航时间短，严重影响喷洒效率。
发明内容
本发明的目的在于提供一种紧凑型长航时植保无人机，用于解决现有技术中植保无人机体积大、结构不紧凑、续航时间短的问题。
为了解决上述问题，本发明提供一种紧凑型长航时植保无人机，包括机身，所述机身包 括第一支撑板，上部设有通过第一支撑板支撑的油箱和药箱；中部设有第二支撑板和四个旋翼组件，所述第二支撑板上设有多个控制模组；下部设有减震组件、驱动组件、喷淋装置以及机身支脚；
所述第一支撑板和第二支撑板固定连接，二者之间形成架空层，所述控制模组设于架空层中；所述多个旋翼组件设于架空层的侧面，与第一支撑板铰接；
所述旋翼组件包括旋翼臂、设置在旋翼臂远端的驱动电机，以及设有利用电机驱动转动的旋桨；
所述减震组件上端连接第二支撑板的底面，下端连接驱动组件；
所述机身支脚一端连接第二支撑板的底部，另一端支撑地面；
所述驱动组件包括发动机组件和发电机组件，所述发动机组件通过油箱供油，驱动发电机组件发电，实现无人机的供能；
所述喷淋装置包括两根喷淋杆，所述喷淋杆竖直活动式连接旋翼组件，下端设有喷头。
本发明所述的植保无人机主要用于喷洒农药，所述第一支撑板设置在机身中部，上部设有通过第一支撑板支撑的油箱和药箱，并通过无人机顶盖罩住油箱和药箱，实现对内部元器件的保护。所述第一支撑板大致呈圆形，所述第二支撑板也呈大致相近或者相同的形状，使得二者能够相互匹配，便于二者之间的紧固。
所述第一支撑板和第二支撑板固定连接，二者之间形成架空层，所述架空层用于设置控制模组，如主板PCB模组、液位检测模组、飞控PCB模组、红外定高PCB模组、红外PCB模组、云台转接PCB模组、图传PCB模组等。其中主板PCB模组起综合控制调控的作用，主要针对驱动的调控，如发动机、发电机、旋翼驱动电机等。液位检测模组主要利用液位差测定剩余油量，从而更加安全、稳定的控制无人机的飞行。所述飞控PCB模组用于稳定无人机飞行姿态，并能控制无人机自主或半自主飞行；其中设置在第二支撑板上的各个模组分别与主板PCB模组电连接，实现无人机的各种操作。
所述红外定高PCB模组主要利用红外测定无人机飞行的高度，从而控制药液喷洒的量。所述红外PCB模组主要用于无人机的测距，实现无人机的避障功能。所述云台转接PCB模组主要用于实现无人机与操作端遥控器之间的通讯连接，从而实现用户的各项操作。所述无人机机身的前侧设有云台组件，能够拍摄实时画面，并通过图传PCB模组将画面传输至用户端，便于用户实时查看药物喷洒的状态和无人机的飞行状态。
因此，通过设置第一支撑板和第二支撑板之间的架空层，将多个控制模组设置在其中，既保证了多个元器件之间位置的相对稳定，又使得整体结构紧凑，从而减小了整机的体积， 且整体飞行更加稳定。由于控制模块为整个无人机的中心区域，对无人机飞行的稳定性起到决定性的作用，而架空层的设置能够形成一个相对独立的保护空间，避免了控制模块暴露在外而遭到损坏。
所述第一支撑板和第二支撑板之间还设有“口”字型的围壳，一方面起到保护内部控制模块的作用，另外围壳上设有四个用于设置旋翼臂的圆孔，起到稳定旋翼臂的作用。
由于发电机和发动机的运转会导致无人机震动，震动幅度过大会影响无人机的飞行稳定性，因此，需要设置减震组件。
所述机身支脚主要用于无人机起飞或者降落时能够平稳的置于水平地面上，机身支脚上会设置多圈防滑圈。
本发明采用的是油电混动型无人机，所述驱动组件包括发动机组件和发电机组件，所述发动机组件通过油箱供油，驱动发电机组件发电，实现无人机的整体供能，因此最终采用的是电能的输送，更加便于控制。
所述发动机组件和发电机组件都为震动较大的元器件，因此将其设置在机身的下半部分，且通过减震组件减震作用，使得震动幅度减小，避免震动过大影响飞行的稳定性。所述发动机组件和发电机组件紧凑连接，本发明采用双缸燃油发动机增强动力，所述发电机设置在发动机的上侧，连接发动机的转轴上，驱动发电机运转。所述发动机的一侧还设有消声器组件，降低发动机产生的噪音，更加方便用户操作。
本发明所述的喷淋装置包括两根竖直设置在旋翼组件上的喷淋杆，能够减少无人机的体积，而喷淋的管路可以沿旋翼臂进行固定，因此，不需要额外的固定装置将喷淋杆进行固定，且能够充分利用旋翼旋转产生的气流，保证喷淋充分。
本发明通过采用油电混动无人机，利用更加合理的元器件的结构布置使得无人机结构更加紧凑，便于运输和携带，也更加方便用户的操作。本发明通过紧凑的设置，将无人机机身分成三个层次，上层为药箱和油箱，由于药箱和油箱在无人机飞行过程中会产生摇晃，因此需要远离发动机和发电机，保证飞行更加稳定。而机身的中层也是无人机控制的核心区域，包括旋翼组件及控制模块，为主要的电器元件的分布区域，因此既要避免药箱或油箱可能产生漏油或漏药影响电器元件的工作，又要减小发动机组件和发电机组件震动可能影响元器件工作的稳定性，因此将其设置在中部，起到更好的保护作用。而发动机组件和发电机组件一方面重量较重，且震动较大，设置在上层或中层都会影响到无人机飞行的稳定性，且需要更为复杂的震动组件才能避免对其他电器元件产生影响，因此将其设置在最下层，且通过减震组件与机身中层实现连接，从而延长了震距，减小了震动的影响范围，保证了整机的飞行稳 定性。
进一步的，所述旋翼组件还包括设于旋翼臂远端，用于保护和固定驱动电机的电机固定组件，所述电机固定组件包括电机固定架和电机固定底罩，所述喷淋杆安装在电机固定架底罩上。
由于电机工作会产生一定的震动，因此为了保证电机的稳固，本发明还设置了电机固定组件，所述电机固定组件安装在旋翼臂的远端，所述电机固定架包括与旋翼臂固定连接的固定杆以及与固定杆固定连接的圆形托架，所述驱动电机固定在圆形托架上，圆形托架的外侧面还设有信号灯导光件。
所述圆形托架下侧依次固定有调速PCB板散热块、用于驱动电机转动速度调节的调速PCB板以及电机固定架底罩。所述调速PCB板散热块为多孔状结构，所述电机固定架底罩与圆形托架固定，内部形成容纳空间，所述PCB板散热块和调速PCB板设置在容纳空间中，所述电机固定架底罩同样设置多个散热孔，一方面保证了调速PCB板能够稳定的固定在圆形托架上，另一方面电机固定架底罩的多孔设置，保证了内部散热。
本发明将喷淋杆固定在电机固定架底罩上，既节约了安装空间，又不会影响到驱动电机的运行。
进一步的，所述喷淋杆与电机固定底罩铰接，且喷淋杆的长度小于旋翼臂的长度。
本发明所述的喷淋杆为折叠式的，折叠方向为沿着旋翼臂，朝向机身方向，由于旋翼臂本身也是可折叠的，因此喷淋杆也不会额外占用无人机的空间，使得整体的结构更加紧凑。
进一步的，所述喷头与喷淋植株之间的高度差H为2～3m。
为了保证喷淋更加充分，且使得旋翼产生的向下气流配合喷头喷出的力度能够保证喷淋充分，所述喷头与喷淋植株之间的距离既不能太远也不能太近，太远会使得气流力度不足，无法保证药液充分覆盖在植株表面，而二者的距离太近，可能由于靠近驱动电机的区域气流太强使得药液扩散至太大范围，降低了所需喷洒区域的药量，可能达不到要求的药效。因此，经过多次测试，证实所述喷头与喷淋植株之间的高度差H为2～3m时，驱动电机带动旋桨转动产生的气流能够将喷淋区域内的植株的叶子反翻动起来，且有一股较强的向下的气流，在植株叶子反动过程中实现喷洒，使得喷洒更加的均匀和充分。
进一步的，两根所述喷淋杆之间的水平距离为L，喷头与喷淋植物之间的所述喷头向斜下方喷洒，其中倾斜角度α符合公式：
Figure PCTCN2018118954-appb-000001
为了保证喷洒完全，保证无人机飞过的区域药液能够全部覆盖，本发明设置的喷头喷洒方向以喷头为中心，呈斜下方扩散状，其中扩散角度α符合公式：
Figure PCTCN2018118954-appb-000002
由于喷头与喷淋植株之间的高度差H和喷淋杆之间的水平距离为L，是固定的，以喷头为定点，以H和L为直角边，则斜边的长度为
Figure PCTCN2018118954-appb-000003
根据余弦定理，其中H和C构成的角度符合公式：
Figure PCTCN2018118954-appb-000004
为了使得斜边的长度更长，即水平的宽度更宽，cosα的值就要小于等于cosβ的值。
进一步的，所述喷淋装置还包括喷淋管路，所述喷淋管路包括输入端和两个输出端，所述药箱设有出药孔，所述药箱侧面设有突出部，所述突出部凸出第一支撑板，所述出药孔设于突出部底部，所述出药孔设有用于连接喷淋管路输入端的“L”型弯头。
为了保证药箱中的药液能够尽量的使用完全，本发明将出药孔设置在药箱的底部，由于药箱是固定在第一支撑板上的，因此喷淋管路连接药箱底部的出药孔可能会导致输入端管道扭曲而导致漏液或者容易产生破损，因此本发明在药箱的侧面设置一个突出部，突出部的底部有部分凸出第一支撑板，在该凸出部分设置“L”型弯头，所述“L”型弯头为刚性器件，由于药液流出时，或有一定的润滑作用，如果为直线的接头，可能由于液体的润滑作用，加上药液的重力，使得喷淋管路的输入端容易滑落，导致药液流出，且会对电路板等电器元件造成损坏，甚至会导致无人机无法正常飞行，因此通过设置“L”型弯头，能够尽量避免输入端滑落。所述输入端上还设有紧固件，如螺纹紧固，或者刚性卡扣将输入端与“L”型弯头进一步固定。所述喷淋管路沿着旋翼臂分布至喷淋杆上，方便了喷淋管路的支撑，也简化了喷淋管路的安装。
进一步的，所述喷头之间的水平距离为0.8～1.2m，所述旋桨的长度为0.55m～0.65m。
为了保证充分的喷淋，所述喷头之间的距离限定在0.8～1.2m之间，因此，只需要在前侧两个旋翼组件下各设置一个喷头即可实现该区域内的完全喷洒。由于本发明的完全喷洒还需要依靠旋桨转动产生向下的气流，因此旋桨的长度也决定了该气流能够覆盖的区域，本发明选择所述旋桨的长度为0.55m～0.65m，使得机身旋桨转动时，中间间隔的区域也能够完全覆盖，保证了喷淋的充分。
进一步的，所述第一支撑板上设有多个定位件，所述油箱和药箱通过定位件并排设置在第一支撑板上，所述定位件横剖面呈直角三角形，其中斜面与油箱或者药箱接触。
所述第一支撑板的前后两侧都设有定位件，所述定位件主要用于固定油箱和药箱，避免的飞行时产生位置的移动和摇晃。由于油箱和药箱中的油和药液的量会逐渐减少，在飞行过程中会产生较大的晃动，如果油箱和药箱上下层设置会由于上下层的倾斜角度不相同而产生摇晃的力度和方向不同，使得液体的晃动更加明显，且液体与瓶身的碰撞也会加强，因此本发明选择油箱和药箱并排相邻设置，当无人机发生倾斜时，由于二者倾斜角度相同，因此会产生同样方向的晃动，使得整体摇晃起来呈稳定的趋势，避免相互之间的碰撞和摩擦而影响使用寿命。
所述定位件的剖面呈直角三角形，其中三角形斜面用于固定油箱和药箱，所述斜面上设有缓冲垫，在避免刚性器件之间相互摩擦导致接触面的损坏的同时，能够增加斜面的摩擦力，使得油箱或药箱能够更加稳定的定位在该位置上，不易滑动。且斜面的设置能够增加定位件与油箱或药箱的接触面积，起到更好的稳定作用。
进一步的，所述减震组件包括由下至上依次连接的第一减震板、多个第二减震板、多个第三减震板以及多个第四减震套件，
所述第一减震板下侧连接驱动组件，上侧连接第二减震板，
所述第二减震板的两端各固定一个第三减震板，所述多个第四减震套件分别与多个第三减震板通过缓冲垫片组件固定连接，
所述第四减震套件上侧固定于第一支撑板上。
进一步的，所述第一减震板包括四个边角，的四个角中，每个边角都设有一个突出的连接部，所述每个连接部上设有四个孔，形成“田”字型，所述第二减震板通过液体减震球连接第一减震板连接部；
所述第二减震板为两块条状板，每块第二减震板的两端同样设有四个与所述连接部对应的四个孔，并通过液体减震球连接第一减震板相邻的两个角；
所述第三减震板呈“n”字型，第二减震板的两端各设置一个，所述第三减震板下端垂直于第二减震板，并通过紧固件将二者固定，上端通过缓冲垫片组件连接第四减震套件；
所述第四减震套件为多层减震结构，包括设有两个第一条状孔的第一挂板和同样设有两个第二条状孔的第二挂板，以及下侧固定有两个条形第一金属片的第三挂板，所述第一挂板与第二挂板通过缓冲件连接，所述第一金属片向下依次贯穿第二挂板和第一挂板的条状孔，最后固定连接第三减震板。
所述第一减震板中部呈方形，中部区域设有条状的散热部。
所述第一减震板中部呈方形，由于底部用于连接发电机组件和发动机组件等，因此在其中部区域设有条状的散热部，避免了发电机和发动机发热造成的机器损坏。其中第一减震板的四个角中，每个角都设有一个突出的连接部，所述每个连接部上设有四个孔，形成“田”字型。
所述缓冲垫片组件包括第一减震垫片、支撑杆、减震环以及第二减震垫片，所述第三减震板上端设有挂孔，所述支撑杆穿过挂孔，一端连接第四减震套件一侧和第一减震垫片，另一端依次连接减震环、第四减震套件另一侧及第二减震垫片。
所述第一挂板设有多个第一通孔，所述第二挂板设有多个相互匹配的第二通孔，所述第一通孔和与其匹配的第二通孔之间通过环形减震球连接。
所述第四减震套件还包括设于第三挂板上端的第四挂板以及设于第四挂板上端的第五挂板，第四挂板的两端各设有一个第三条状孔，中部设有四个第三通孔，第五挂板呈“n”字型，两端设有插条，用于插入第三条状孔，所述第一挂板的两端设有固定位，用于固定插条的末端，形成稳定的减震结构。
所述第四减震套件上的第三挂板和第五挂板呈镂空结构。
所述第四减震套件上的多个挂板一般设置成镂空的结构，可以减小飞行的阻力，同时也便于机器的散热，使得飞行更加稳定。
本发明采用的是油电混动型无人机，所述驱动组件包括发动机组件和发电机组件，所述发动机组件通过油箱供油，驱动发电机组件发电，实现无人机的整体供能，因此最终采用的是电能的输送，更加便于控制。
所述发动机组件和发电机组件都为震动较大的元器件，因此将其设置在机身的下半部分，且通过减震组件减震作用，使得震动幅度减小，避免震动过大影响飞行的稳定性。所述发动机组件和发电机组件紧凑连接，本发明采用双缸燃油发动机增强动力，所述发电机设置在发动机的上侧，连接发动机的转轴上，驱动发电机运转。所述发动机的一侧还设有消声器组件，降低发动机产生的噪音，更加方便用户操作。
本发明的有益效果：
(1)本发明通过采用油电混动无人机，利用更加合理的元器件的结构布置使得无人机结构更加紧凑，便于运输和携带，也更加方便用户的操作，且油电混动能够延长飞行时长，提高喷淋效率。
(2)本发明的多级减震板环环相扣，使得减震板之间形成一定的缓冲空间，且每个减震 板之间通过具有缓冲作用的液体减震球或多层环形的环形减震球连接，在延长震距的同时，达到缓冲效果，起到了多重缓冲作用，且多层减震板之间结构紧凑，也尽可能的减小了占用空间，进一步减小了无人机的体积。
(3)本发明设置的喷淋杆为可折叠时喷淋杆，结合机身的形状，将喷淋杆的两端向后折叠，所述旋翼同样能够折叠，使得整体形成半封闭式的围栏结构，便于携带和收纳，且尽量的节约了占用空间。
(4)本发明根据旋桨产生的风力和紊流效果实现喷淋杆中部位置对应的植物区域也能够有药液的分布，减少了喷头的设置，减少了喷头数量，同时还能够降低药液的使用量，提高喷淋效率。
(5)本发明将旋翼组件设置在四个侧角，使得前侧的两个旋桨转动时能够对下方喷淋杆上的喷头产生最大的气流，使得喷头喷洒出来的药液能够更加分散，且旋桨转动产生的风力还能够吹动植物，使得植物的叶子能够产生翻转，达到更加充分的喷洒效果。
附图说明
图1为本发明无人机展开侧视图。
图2为本发明无人机整体爆炸图。
图3为本发明第二支撑板上控制模组结构图。
图4为本发明旋翼组件局部爆炸示意图。
图5为本发明旋翼组件又一局部爆炸示意图。
图6为本发明单口喷头无人机展开后结构图。
图7为本发明双口喷头无人机展开后结构图。
图8为本发明喷头的喷淋角度示意图。
图9为第一支撑板与油箱、药箱配合的局部爆炸图。
图10为定位件正面和反面立体示意图。
图11为本发明无人机减震组件局部爆炸图。
图12为本发明减震组件的第四减震套件爆炸结构图。
具体实施方式
为使本发明实施的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行更加详细的描述。在附图中，自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。所描述的实施例是本发明一部分实施例，而不是全部的实施例。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发 明，而不能理解为对本发明的限制。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。下面结合附图对本发明的实施例进行详细说明。
本发明提供一种紧凑型长航时植保无人机，如图1所示，包括机身1，所述机身1包括第一支撑板11，上部设有通过第一支撑板11支撑的油箱2和药箱3；中部设有第二支撑板12和四个旋翼组件4，结合图2所示，所述第二支撑板12上设有多个控制模组5；下部设有减震组件6、驱动组件7、喷淋装置8以及机身支脚13；
如图1～2所示，所述第一支撑板11和第二支撑板12固定连接，二者之间形成架空层，所述控制模组5设于架空层中；所述多个旋翼组件4设于架空层的侧面，与第一支撑板11铰接；
所述旋翼组件4包括旋翼臂41、设置在旋翼臂41远端的驱动电机42，以及设有利用电机驱动转动的旋桨43；
所述减震组件6上端连接第二支撑板12的底面，下端连接驱动组件7；
所述机身支脚13一端连接第二支撑板12的底部，另一端支撑地面；
所述驱动组件7包括发动机组件71和发电机组件72，所述发动机组件71通过油箱2供油，驱动发电机组件72发电，实现无人机的供能；
所述喷淋装置8包括两根喷淋杆81，所述喷淋杆81竖直活动式连接旋翼组件4，下端设有喷头82。
本发明所述的植保无人机主要用于喷洒农药，所述第一支撑板11设置在机身1中部，上部设有通过第一支撑板11支撑的油箱2和药箱3，并通过无人机顶盖罩住油箱2和药箱3，实现对内部元器件的保护。所述第一支撑板11大致呈圆形，所述第二支撑板12也呈大致相近或者相同的形状，使得二者能够相互匹配，便于二者之间的紧固。
如图3所示，所述第一支撑板11和第二支撑板12固定连接，二者之间形成架空层，所述架空层用于设置控制模组5，如主板PCB模组51、液位检测模组52、飞控PCB模组53、红外定高PCB模组54、云台转接PCB模组55、图传PCB模组56等。其中主板PCB模组51起综合控制调控的作用，主要针对驱动的调控，如发动机、发电机、旋翼驱动电机42等。液位检测模组52主要利用液位差测定剩余油量，从而更加安全、稳定的控制无人机的飞行。所述飞控PCB模组用于稳定无人机飞行姿态，并能控制无人机自主或半自主飞行；其中设置在第二支撑板12上的各个模组分别与主板PCB模组51电连接，实现无人机的各种操作。
所述红外定高PCB模组54主要利用红外测定无人机飞行的高度，从而控制药液喷洒的 量。所述红外PCB模组主要用于无人机的测距，实现无人机的避障功能。所述云台转接PCB模组55主要用于实现无人机与操作端遥控器之间的通讯连接，从而实现用户的各项操作。所述无人机机身1的前侧设有云台组件，能够拍摄实时画面，并通过图传PCB模组56将画面传输至用户端，便于用户实时查看药物喷洒的状态和无人机的飞行状态。
因此，通过设置第一支撑板11和第二支撑板12之间的架空层，将多个控制模组5设置在其中，既保证了多个元器件之间位置的相对稳定，又使得整体结构紧凑，从而减小了整机的体积，且整体飞行更加稳定。由于控制模块为整个无人机的中心区域，对无人机飞行的稳定性起到决定性的作用，而架空层的设置能够形成一个相对独立的保护空间，避免了控制模块暴露在外而遭到损坏。
如图1～2所示，所述第一支撑板11和第二支撑板12之间还设有“口”字型的围壳14，一方面起到保护内部控制模块的作用，另外围壳14上设有四个用于设置旋翼臂41的圆孔，起到稳定旋翼臂41的作用。
由于发电机和发动机的运转会导致无人机震动，震动幅度过大会影响无人机的飞行稳定性，因此，需要设置减震组件6。
所述机身支脚13主要用于无人机起飞或者降落时能够平稳的置于水平地面上，机身支脚13上会设置多圈防滑圈。
本发明采用的是油电混动型无人机，所述驱动组件7包括发动机组件71和发电机组件72，所述发动机组件71通过油箱2供油，驱动发电机组件72发电，实现无人机的整体供能，因此最终采用的是电能的输送，更加便于控制。
所述发动机组件71和发电机组件72都为震动较大的元器件，因此将其设置在机身1的下半部分，且通过减震组件6减震作用，使得震动幅度减小，避免震动过大影响飞行的稳定性。所述发动机组件71和发电机组件72紧凑连接，本发明采用双缸燃油发动机增强动力，所述发电机设置在发动机的上侧，连接发动机的转轴上，驱动发电机运转。所述发动机的一侧还设有消声器组件，降低发动机产生的噪音，更加方便用户操作。
本发明所述的喷淋装置8包括两根竖直设置在旋翼组件4上的喷淋杆81，能够减少无人机的体积，而喷淋的管路可以沿旋翼臂41进行固定，因此，不需要额外的固定装置将喷淋杆81进行固定，且能够充分利用旋翼旋转产生的气流，保证喷淋充分。
本发明通过采用油电混动无人机，利用更加合理的元器件的结构布置使得无人机结构更加紧凑，便于运输和携带，也更加方便用户的操作。本发明通过紧凑的设置，将无人机机身1分成三个层次，上层为药箱3和油箱2，由于药箱3和油箱2在无人机飞行过程中会产生摇 晃，因此需要远离发动机和发电机，保证飞行更加稳定。而机身1的中层也是无人机控制的核心区域，包括旋翼组件4及控制模块，为主要的电器元件的分布区域，因此既要避免药箱3或油箱2可能产生漏油或漏药影响电器元件的工作，又要减小发动机组件71和发电机组件72震动可能影响元器件工作的稳定性，因此将其设置在中部，起到更好的保护作用。而发动机组件71和发电机组件72一方面重量较重，且震动较大，设置在上层或中层都会影响到无人机飞行的稳定性，且需要更为复杂的震动组件才能避免对其他电器元件产生影响，因此将其设置在最下层，且通过减震组件6与机身1中层实现连接，从而延长了震距，减小了震动的影响范围，保证了整机的飞行稳定性。
进一步的，如图4所示，所述旋翼组件4还包括设于旋翼臂41远端，用于保护和固定驱动电机42的电机固定组件44，所述电机固定组件44包括电机固定架441和电机固定底罩442，所述喷淋杆81安装在电机固定架底罩442上。
由于电机工作会产生一定的震动，因此为了保证电机的稳固，本发明还设置了电机固定组件44，所述电机固定组件44安装在旋翼臂41的远端，结合图5所示，所述电机固定架441包括与旋翼臂41固定连接的固定杆4411以及与固定杆固定连接的圆形托架4412，所述驱动电机42固定在圆形托架4412上，圆形托架4412的外侧面还设有信号灯导光件10。
如图5所示，所述圆形托架4412下侧依次固定有调速PCB板散热块20、用于驱动电机转动速度调节的调速PCB板30以及电机固定架底罩40。所述调速PCB板散热块20为多孔状结构，所述电机固定架底罩442与圆形托架4412固定，内部形成容纳空间，所述PCB板散热块和调速PCB板设置在容纳空间中，所述电机固定架底罩442同样设置多个散热孔，一方面保证了调速PCB板能够稳定的固定在圆形托架4412上，另一方面电机固定架底罩442的多孔设置，保证了内部散热。
本发明将喷淋杆81固定在电机固定架底罩442上，既节约了安装空间，又不会影响到驱动电机42的运行。
进一步的，所述喷淋杆81与电机固定底罩铰接，如图6所示，且喷淋杆81的长度L1小于旋翼臂41的长度L2。
本发明所述的喷淋杆81为折叠式的，折叠方向为沿着旋翼臂41，朝向机身1方向，由于旋翼臂41本身也是可折叠的，因此喷淋杆81也不会额外占用无人机的空间，使得整体的结构更加紧凑。
进一步的，所述喷头82与喷淋植株之间的高度差H为2～3m。
为了保证喷淋更加充分，且使得旋翼产生的向下气流配合喷头82喷出的力度能够保证喷 淋充分，所述喷头82与喷淋植株之间的距离既不能太远也不能太近，太远会使得气流力度不足，无法保证药液充分覆盖在植株表面，而二者的距离太近，可能由于靠近驱动电机42的区域气流太强使得药液扩散至太大范围，降低了所需喷洒区域的药量，可能达不到要求的药效。因此，经过多次测试，证实所述喷头82与喷淋植株之间的高度差H为2～3m时，驱动电机42带动旋桨43转动产生的气流能够将喷淋区域内的植株的叶子反翻动起来，且有一股较强的向下的气流，在植株叶子反动过程中实现喷洒，使得喷洒更加的均匀和充分。
进一步的，如图6～7所示，两根所述喷淋杆81之间的水平距离为L，喷头82与喷淋植物之间的所述喷头82向斜下方喷洒，其中倾斜角度α符合公式：
Figure PCTCN2018118954-appb-000005
为了保证喷洒完全，保证无人机飞过的区域药液能够全部覆盖，本发明设置了两种结构的喷头，如图6所示的单口喷头和如图7所示的双口喷头，如图8所示，本发明设置的喷头82喷洒方向以喷头82为中心，呈斜下方扩散状，其中扩散角度α符合公式：
Figure PCTCN2018118954-appb-000006
由于喷头82与喷淋植株之间的高度差H和喷淋杆81之间的水平距离为L，是固定的，以喷头82为定点，以H和L为直角边，则斜边的长度为
Figure PCTCN2018118954-appb-000007
根据余弦定理，其中H和C构成的角度符合公式：
Figure PCTCN2018118954-appb-000008
为了使得斜边的长度更长，即水平的宽度更宽，cosα的值就要小于等于cosβ的值。
进一步的，如图2和图9所示，所述喷淋装置8还包括喷淋管路83，所述喷淋管路包括输入端和两个输出端，所述药箱3设有出药孔31，所述药箱3侧面设有突出部32，所述突出部32凸出第一支撑板11，所述出药孔31设于突出部32底部，所述出药孔31设有用于连接喷淋管路83输入端的“L”型弯头321。
为了保证药箱3中的药液能够尽量的使用完全，本发明将出药孔31设置在药箱3的底部，由于药箱3是固定在第一支撑板11上的，因此喷淋管路83连接药箱3底部的出药孔31可能会导致输入端管道扭曲而导致漏液或者容易产生破损，因此本发明在药箱3的侧面设置一个突出部32，突出部32的底部有部分凸出第一支撑板11，在该凸出部分设置“L”型弯头321， 所述“L”型弯头321为刚性器件，由于药液流出时，或有一定的润滑作用，如果为直线的接头，可能由于液体的润滑作用，加上药液的重力，使得喷淋管路83的输入端容易滑落，导致药液流出，且会对电路板等电器元件造成损坏，甚至会导致无人机无法正常飞行，因此通过设置“L”型弯头321，能够尽量避免输入端滑落。所述输入端上还设有紧固件，如螺纹紧固，或者刚性卡扣将输入端与“L”型弯头321进一步固定。所述喷淋管路83沿着旋翼臂41分布至喷淋杆81上，方便了喷淋管路83的支撑，也简化了喷淋管路83的安装。
进一步的，所述喷头82之间的水平距离为0.8～1.2m，所述旋桨43的长度L3为0.55m～0.65m。
为了保证充分的喷淋，所述喷头82之间的距离限定在0.8～1.2m之间，因此，只需要在前侧两个旋翼组件4下各设置一个喷头82即可实现该区域内的完全喷洒。由于本发明的完全喷洒还需要依靠旋桨43转动产生向下的气流，因此旋桨43的长度也决定了该气流能够覆盖的区域，本发明选择所述旋桨43的长度为0.55m～0.65m，使得机身1旋桨43转动时，中间间隔的区域也能够完全覆盖，保证了喷淋的充分。
进一步的，如图9所示，所述第一支撑板11上设有多个定位件111，结合图10所示，所述油箱2和药箱3通过定位件111并排设置在第一支撑板11上，所述定位件111横剖面呈直角三角形，其中斜面与油箱2或者药箱3接触。
所述第一支撑板11的前后两侧都设有定位件111，所述定位件111主要用于固定油箱2和药箱3，避免的飞行时产生位置的移动和摇晃。由于油箱2和药箱3中的油和药液的量会逐渐减少，在飞行过程中会产生较大的晃动，如果油箱2和药箱3上下层设置会由于上下层的倾斜角度不相同而产生摇晃的力度和方向不同，使得液体的晃动更加明显，且液体与瓶身的碰撞也会加强，因此本发明选择油箱2和药箱3并排相邻设置，当无人机发生倾斜时，由于二者倾斜角度相同，因此会产生同样方向的晃动，使得整体摇晃起来呈稳定的趋势，避免相互之间的碰撞和摩擦而影响使用寿命。
所述定位件111的剖面呈直角三角形，其中三角形斜面用于固定油箱2和药箱3，所述斜面上设有缓冲垫，在避免刚性器件之间相互摩擦导致接触面的损坏的同时，能够增加斜面的摩擦力，使得油箱2或药箱3能够更加稳定的定位在该位置上，不易滑动。且斜面的设置能够增加定位件111与油箱2或药箱3的接触面积，起到更好的稳定作用。
进一步的，如图11所示，所述减震组件6包括由下至上依次连接的第一减震板61、多个第二减震板62、多个第三减震板63以及多个第四减震套件64；
结合图1～2所示，所述第一减震板61下侧连接驱动组件7，上侧连接第二减震板62；
所述第二减震板62的两端各固定一个第三减震板63，所述多个第四减震套件64分别与多个第三减震板63通过减震垫片20和减震环30固定连接，
所述第四减震套件64上侧固定于第一支撑板11上。
所述第一减震板61中部呈方形，由于底部用于连接发电机组件72和发动机组件71等，因此在其中部区域设有条状的散热部，避免了发电机和发动机发热造成的机器损坏。其中第一减震板61的四个角中，每个角都设有一个突出的连接部40，所述每个连接部40上设有四个孔，形成“田”字型，所述第二减震板62为两块条状板，每块第二减震板62的两端同样设有四个与所述连接部40对应的四个孔，并通过液体减震球10连接第一减震板61相邻的两个角，所述第三减震板63呈“n”字型，第二减震板62的两端各设置一个，所述第三年减震板垂直于第二减震板62，并通过紧固件将二者固定。所述第三减震板63的上侧设有连接孔50，并设有穿过连接孔50的支撑杆60，所述支撑杆60上还设有减震垫片20，所述第四减震套件64下侧连接支撑杆60。
如图12所示，所述第四减震套件64为多层减震结构，包括四个角的每个角设有一个第一通孔610和中部设有两个第一条状孔640的第一挂板641，同样设有四个第二通孔620和两个第二条状孔650的第二挂板642，以及下侧固定有两个条形第一金属片670的第三挂板643，所述第一挂板641与第二挂板642通过环形减震球连接，所述第一金属片670向下依次贯穿第二挂板642和第一挂板641的条状孔，最终固定于第三减震板63。
如图12所示，所述第四减震套件64还包括设于第三挂板643上端的第四挂板644以及设于第四挂板644上端的第五挂板645，第四挂板644的两端各设有一个第三条状孔660，中部设有四个第三通孔630，第五挂板645呈“n”字型，两端设有插条6451，用于插入第三条状孔660，所述第一挂板641的两端设有固定位，用于固定插条6451的末端，形成稳定的减震结构，所述第四挂板用于连接第二支撑板。
所述第四减震套件64上的多个挂板一般设置成镂空的结构，可以减小飞行的阻力，同时也便于机器的散热，使得飞行更加稳定。
本发明的多级减震板环环相扣，使得减震板之间形成一定的缓冲空间，且每个减震板之间通过具有缓冲作用的液体减震球或多层环形的环形减震球连接，在延长震距的同时，达到缓冲效果，起到了多重缓冲作用，且多层减震板之间结构紧凑，也尽可能的减小了占用空间，进一步减小了无人机的体积。
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上较佳实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改 或等同替换都不应脱离本发明技术方案的精神和范围。本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (10)

  1. 一种紧凑型长航时植保无人机，包括机身，其特征在于，所述机身包括第一支撑板，上部设有通过第一支撑板支撑的油箱和药箱；中部设有第二支撑板和四个旋翼组件，所述第二支撑板上设有多个控制模组；下部设有减震组件、驱动组件、喷淋装置以及机身支脚，所述支脚上设有防滑垫；
    所述第一支撑板和第二支撑板固定连接，二者之间形成架空层，所述控制模组设于架空层中；所述多个旋翼组件设于架空层的侧面，与第一支撑板铰接；
    所述旋翼组件包括旋翼臂、设置在旋翼臂远端的驱动电机，以及设有利用电机驱动转动的旋桨；
    所述减震组件上端连接第二支撑板的底面，下端连接驱动组件；
    所述机身支脚一端连接第二支撑板的底部，另一端支撑地面；
    所述驱动组件包括发动机组件和发电机组件，所述发动机组件通过油箱供油，驱动发电机组件发电，实现无人机的供能；
    所述喷淋装置包括两根喷淋杆，所述喷淋杆竖直活动式连接旋翼组件，下端设有喷头。
  2. 根据权利要求1所述的无人机，其特征在于，所述旋翼组件还包括设于旋翼臂远端，用于保护和固定驱动电机的电机固定组件，所述电机固定组件包括电机固定架和电机固定架底罩，所述喷淋杆安装在电机固定架底罩上。
  3. 根据权利要求2所述的无人机，其特征在于，所述喷淋杆与电机固定底罩铰接，且喷淋杆的长度小于旋翼臂的长度。
  4. 根据权利要求1所述的无人机，其特征在于，所述喷头与喷淋植株之间的高度差H为2～3m。
  5. 根据权利要求3所述的无人机，其特征在于，两根所述喷淋杆之间的水平距离为L，喷头与喷淋植物之间的所述喷头向斜下方喷洒，其中倾斜角度α符合公式：
    Figure PCTCN2018118954-appb-100001
  6. 根据权利要求1所述的无人机，其特征在于，所述喷淋装置还包括喷淋管路，所述喷淋管路包括输入端和两个输出端，所述药箱设有出药孔，所述药箱侧面设有突出部，所述突出部凸出第一支撑板，所述出药孔设于突出部底部，所 述出药孔设有用于连接喷淋管路输入端的“L”型弯头。
  7. 根据权利要求1所述的无人机，其特征在于，所述喷头之间的水平距离为0.8～1.2m，所述旋桨的长度为580～650mm。
  8. 根据权利要求1所述的无人机，其特征在于，所述第一支撑板上设有多个定位件，所述油箱和药箱通过定位件并排设置在第一支撑板上，所述定位件横剖面呈直角三角形，其中斜面与油箱或者药箱接触。
  9. 根据权利要求1所述的所述无人机，所述减震组件包括由下至上依次连接的第一减震板、多个第二减震板、多个第三减震板以及多个第四减震套件，
    所述第一减震板下侧连接驱动组件，上侧连接第二减震板，
    所述第二减震板的两端各固定一个第三减震板，所述多个第四减震套件分别与多个第三减震板通过缓冲垫片组件固定连接，
    所述第四减震套件上侧固定于第一支撑板上。
  10. 根据权利要求9所述的无人机，其特征在于，所述第一减震板包括四个边角，的四个角中，每个边角都设有一个突出的连接部，所述每个连接部上设有四个孔，形成“田”字型，所述第二减震板通过液体减震球连接第一减震板连接部；
    所述第二减震板为两块条状板，每块第二减震板的两端同样设有四个与所述连接部对应的四个孔，并通过液体减震球连接第一减震板相邻的两个角；
    所述第三减震板呈“n”字型，第二减震板的两端各设置一个，所述第三减震板下端垂直于第二减震板，并通过紧固件将二者固定，上端通过缓冲垫片组件连接第四减震套件；
    所述第四减震套件为多层减震结构，包括设有两个第一条状孔的第一挂板和同样设有两个第二条状孔的第二挂板，以及下侧固定有两个条形第一金属片的第三挂板，所述第一挂板与第二挂板通过缓冲件连接，所述第一金属片向下依次贯穿第二挂板和第一挂板的条状孔，最后固定连接第三减震板。
PCT/CN2018/118954 2018-09-14 2018-12-03 一种紧凑型长航时植保无人机 WO2020052106A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811075569.9 2018-09-14
CN201811075569.9A CN109229387A (zh) 2018-09-14 2018-09-14 一种紧凑型长航时植保无人机

Publications (1)

Publication Number Publication Date
WO2020052106A1 true WO2020052106A1 (zh) 2020-03-19

Family

ID=65058464

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/118954 WO2020052106A1 (zh) 2018-09-14 2018-12-03 一种紧凑型长航时植保无人机

Country Status (2)

Country Link
CN (1) CN109229387A (zh)
WO (1) WO2020052106A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116899142A (zh) * 2023-05-29 2023-10-20 中国矿业大学(北京) 一种无人机巡查灭火一体化作业系统
CN117755542A (zh) * 2024-02-20 2024-03-26 泉州云卓科技有限公司 一种高适配性的多功能无人机支架及其无人机

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109804995A (zh) * 2019-01-31 2019-05-28 安徽梦之翼无人机科技有限公司 一种新型农用植保无人机
CN112478170A (zh) * 2020-12-15 2021-03-12 广州极飞科技有限公司 飞行器
CN112977829A (zh) * 2021-04-08 2021-06-18 郑志程 智能化无人机农药喷洒装置
CN113074050A (zh) * 2021-04-08 2021-07-06 安徽砺德特种动力科技有限公司 一种电喷发动机、无人机用发动机
CN115743641B (zh) * 2022-11-29 2024-04-05 北京林业大学 一种防止仿生屈曲变形的仿生飞行器

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110104405A (ko) * 2010-03-16 2011-09-22 동국대학교 산학협력단 무인헬리콥터의 하이브리드 전력 공급 장치
US20160311544A1 (en) * 2014-11-14 2016-10-27 Top Flight Technologies, Inc. Micro Hybrid Generator System Drone
CN206012966U (zh) * 2016-07-26 2017-03-15 东莞市瑞科五金塑胶制品有限公司 一种用于植保无人机的标准施药装置
CN206520748U (zh) * 2017-01-20 2017-09-26 深圳智航无人机有限公司 一种油电混合动力多旋翼无人机
CN107352036A (zh) * 2017-08-25 2017-11-17 山东蜂巢航空科技有限公司 一种油电混合无人机系统及其供电方法
CN108082490A (zh) * 2018-01-20 2018-05-29 南京拓恒电子科技有限公司 一种植保无人机
CN108082485A (zh) * 2018-01-25 2018-05-29 上海珞鹏航空科技有限公司成都研发分公司 一种发动机倒装式油动单旋翼植保无人机

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110104405A (ko) * 2010-03-16 2011-09-22 동국대학교 산학협력단 무인헬리콥터의 하이브리드 전력 공급 장치
US20160311544A1 (en) * 2014-11-14 2016-10-27 Top Flight Technologies, Inc. Micro Hybrid Generator System Drone
CN206012966U (zh) * 2016-07-26 2017-03-15 东莞市瑞科五金塑胶制品有限公司 一种用于植保无人机的标准施药装置
CN206520748U (zh) * 2017-01-20 2017-09-26 深圳智航无人机有限公司 一种油电混合动力多旋翼无人机
CN107352036A (zh) * 2017-08-25 2017-11-17 山东蜂巢航空科技有限公司 一种油电混合无人机系统及其供电方法
CN108082490A (zh) * 2018-01-20 2018-05-29 南京拓恒电子科技有限公司 一种植保无人机
CN108082485A (zh) * 2018-01-25 2018-05-29 上海珞鹏航空科技有限公司成都研发分公司 一种发动机倒装式油动单旋翼植保无人机

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116899142A (zh) * 2023-05-29 2023-10-20 中国矿业大学(北京) 一种无人机巡查灭火一体化作业系统
CN117755542A (zh) * 2024-02-20 2024-03-26 泉州云卓科技有限公司 一种高适配性的多功能无人机支架及其无人机
CN117755542B (zh) * 2024-02-20 2024-05-31 泉州云卓科技有限公司 一种高适配性的多功能无人机支架及其无人机

Also Published As

Publication number Publication date
CN109229387A (zh) 2019-01-18

Similar Documents

Publication Publication Date Title
WO2020052106A1 (zh) 一种紧凑型长航时植保无人机
JP2019194085A (ja) 飛行体及び飛行体の制御方法
US9550566B2 (en) Disc-shaped turbo-jet aircraft
CN111467710A (zh) 一种消防灭火无人机
CN108082485A (zh) 一种发动机倒装式油动单旋翼植保无人机
CN109592027A (zh) 一种水冷发动机型植保无人机
CN109131891B (zh) 一种多旋翼植保无人机
CN106428568B (zh) 一种电动力植保无人机用多功能双层植保箱和无人机
CN209650540U (zh) 一种植保无人机旋翼组件
CN109178319A (zh) 一种紧凑型油电混动植保无人机
CN210133293U (zh) 一种无人机用双缸水冷动力装置
JPS5833598A (ja) 空中散布装置
CN209300053U (zh) 一种植保无人机喷淋组件
CN109221060A (zh) 一种植保无人机喷淋组件及喷淋方法
CN109573068A (zh) 一种无人机用双缸水冷动力装置
CN207985198U (zh) 一种植保无人机用撒药箱
CN210133292U (zh) 一种植保无人机的减震组件
CN207791162U (zh) 一种农用可喷洒农药的无人机
CN209305848U (zh) 一种紧凑型油电混动植保无人机
TWI408080B (zh) 三軸直升機
CN209305847U (zh) 一种紧凑型长航时植保无人机
CN209455001U (zh) 一种油电混动植保无人机的减震组件
CN216762176U (zh) 一种农业种植用无人机
CN209650538U (zh) 一种水冷发动机型植保无人机
CN213074199U (zh) 一种用于航空农药雾化喷洒装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18933570

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18933570

Country of ref document: EP

Kind code of ref document: A1